Welcome to the BestMan_Piper repository, a codebase dedicated to the piper x arm.

💻 Installation

• (Optional) Create conda environment

  conda env create -f basic_environment.yaml
  

• Install piper-SDK follow https://github.com/agilexrobotics/piper_sdk

  pip3 install python-can
  git clone https://github.com/agilexrobotics/piper_sdk.git
  cd piper_sdk
  pip3 install .

• activate robot can

  cd piper_sdk
  bash can_activate.sh
  

🔎 Project Structure

Generate and view the project structure:

doxygen Doxyfile
firefox /home/$(whoami)/BestMan_Xarm/docs/html/index.html # API document

👨‍💻 Basic Demos

cd ~/BestMan_Xarm/Examples/
# Demo: Go Home
python3 move_arm_to_home.py

# Demo: Move Joints
python3 move_arm_to_joint_angles.py

# Demo: Move gripper
python3 close_gripper.py
python3 open_gripper.py
python3 open_gripper_width.py

(We are fixing other demos.)

📧 Contact Information

If you have any questions or need further assistance, please feel free to reach out via email:

• dingyan at pjlab.org.cn
• zhaxizhuoma at pjlab.org.cn
• wuziniu at pjlab.org.cn

🤝 Reference

• IKPy’s documentation
• xArm-Python-SDK